CN104007677A - Intelligent flow-variable spraying controller based on laser detection - Google Patents
Intelligent flow-variable spraying controller based on laser detection Download PDFInfo
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Abstract
The invention discloses an intelligent flow-variable spraying controller based on laser detection. The intelligent flow-variable spraying controller based on laser detection comprises a laser sensor, a touch screen, an embedded vehicle-mounted main control unit, a portable wind speed and wind direction tester, a data acquisition unit, a speed sensor, a pressure sensor, a flow sensor, an inclination sensor, a multi-channel variable-flow control unit and a plurality of electromagnetic valves, wherein the electromagnetic valves, the laser sensor, the touch screen, the portable wind speed and wind direction tester, the data acquisition unit and the multi-channel variable-flow control unit are all in communication with the embedded vehicle-mounted main control unit, signals collected by the speed sensor, the pressure sensor, the flow sensor and the inclination sensor are transmitted to the data acquisition unit, and the electromagnetic valves are controlled by the multi-channel variable-flow control unit. According to the intelligent flow-variable spraying controller based on laser detection, the dynamic delay compensation mechanism is adopted, and the influence of factors such as output delay of a control system and the wind speed of a field is avoided. By the adoption of the intelligent flow-variable spraying controller based on laser detection, and the accuracy of agricultural pesticide spraying is improved, environmental pollution is reduced. The intelligent variable spraying controller based on laser detection has important scientific significance and high application value.
Description
Technical field
The present invention relates to the controller of hyperchannel variable-flow vehicle mounted spraying machine, especially a kind of intelligent variable sprayer controller that adopts laser acquisition.
Background technology
China Shi Yige large agricultural country, agricultural spray dispenser is the effective ways of controlling nursery, orchard disease pest and weed.Yet the equipment for plant protection that China is current and pesticide application technology are still relatively backward, efficiency is low, intensity is large manual, backpack traditional spray machine are still being widely used.Be subject to the different form of plant, mix cultivation, the impact of the factors such as seasonal growth conversion, plantation spacing, the spray effect of traditional spray machine is poor.Under the existing pest control equipment of China and pesticide application technology, pesticide efficacy is low, number of dropouts is large, it is high to spray skewness, causes Practice for Pesticide Residue in Agricultural Products up to the decades of times of developed country.The waste that has lowly caused agricultural chemicals of agricultural pesticide application technology level and the pollution of environment, caused the problems such as Environmental security, agricultural product and fruit safety, operator's safety and economic benefit.
Summary of the invention
For the shortcoming that overcomes to driftlessness region, constant sprays, the present invention provides a kind of intelligent variable sprayer controller that adopts laser acquisition, it can be according to characteristic informations such as the having or not of plant target, size, shape and density, selectively, variable-flow spray pesticide as required.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of intelligent variable sprayer controller that adopts laser acquisition, comprise laser sensor, touch-screen, embedded onboard main control unit, the portable tester of wind speed and wind direction, data acquisition unit, speed pickup, pressure transducer, flow sensor, inclination sensor, hyperchannel variable-flow control module, several solenoid valves, described laser sensor, touch-screen, the portable tester of wind speed and wind direction, data acquisition unit, hyperchannel variable-flow control module intercoms mutually with embedded onboard main control unit respectively, described speed pickup, pressure transducer, flow sensor, inclination sensor transfers to data acquisition unit by the signal of collection respectively, described hyperchannel variable-flow control module is controlled several solenoid valves.
Further, described embedded onboard main control unit comprises Ethernet assembly, 3G communications component, Modbus assembly, CAN assembly, GPS assembly, described laser sensor, touch-screen, the portable tester of wind speed and wind direction passes through respectively too screen component, Modbus assembly, 3G communications component is connected with embedded onboard main control unit, described GPS assembly is for intercoming mutually with satellite, the digital map information in the spraying operation place of GPS assembly reception satellite backhaul is also presented on touch-screen, be used for recording sprinkling path, the situation that prevents drain spray or repeat to spray medicine, described data acquisition unit is connected with the CAN assembly of embedded onboard main control unit with CAN assembly by CAN assembly respectively with hyperchannel variable-flow control module.
Further, described data acquisition unit comprises CAN assembly, frequency counting unit, high speed optoelectronic isolation, A/D converting unit, I/V change-over circuit, frequency counting unit, high speed optoelectronic isolation, spi bus module, described CAN assembly is connected with the CAN assembly of embedded onboard main control unit, described speed pickup, pressure transducer, flow sensor, inclination sensor respectively by high speed optoelectronic isolate, the isolation of I/V change-over circuit, high speed optoelectronic, spi bus module be connected with data acquisition unit.
Further, described hyperchannel variable-flow control module comprises CAN assembly and some groups of PWM makers, high speed optoelectronic isolation, MOSFET driving circuit, each PWM maker, high speed optoelectronic isolation, MOSFET driving circuit are one group, its group number is identical with the quantity of described solenoid valve, solenoid valve is connected with hyperchannel variable-flow control module by MOSFET driving circuit, and described hyperchannel variable-flow control module is connected with the CAN assembly of embedded onboard main control unit by CAN assembly.
Further, described laser sensor has wide-angle sensing range, IP67 degree of protection, the rapid scanning cycle of 25ms, the Ethernet communication interface at a high speed of 270o, and effectively measuring distance is 0.1 ~ 30m.
Further, shock resistance and the 9-32V wide region direct supply input of described embedded onboard main control unit based on i7-2710QE tetra-core processors, fan-free operation, 5 Grms, GPS assembly obtains the geography information in sprinkling process, the radio communication of the realization of 3G communications component and wind speed and the portable tester of wind direction, and teledata exchange, adopt embedded OS Windows XP Emedded, be beneficial to software transplanting and exploitation.
Further, the described hyperchannel variable-flow control module with CAN assembly is controlled the pwm signal of realizing multichannel different duty by software programming, adopt buffer circuit to realize high-speed MOSFET driver solenoid valve, control the solenoid valve opening and closing time, thereby realize the variable-flow control of nozzle.
Further, described solenoid valve has higher switching frequency, and its power consumption is only 6W, by the design of the reverse absorbing circuit of solenoid valve, can reach the good flow control linearity.
Further, described touch-screen is that rated voltage is the high brightness TFT LCDs that 24V DC, rated power are 5W, is connected with embedded onboard main control unit, realizes the function of man-machine interaction.
Further, the portable tester of Negotiation speed sensor, inclination sensor, wind speed and wind direction detects vehicle-mounted spraying machine gait of march, place road conditions, place wind speed and direction information in real time, embedded onboard main control unit is analyzed, is processed them, draw system output time delay, the spraying operation speed of travel and several persons' of place wind speed mutual restricting relation, system output dynamic compensation mechanism is set, realizes the accurate spraying of target.
The invention has the beneficial effects as follows:
The characteristic informations such as the plant that embedded onboard main control unit detects according to laser sensor has or not, size, shape and density, control the work of multipath electrovalve, reach the object of accurate spray pesticide.This not only reduced agricultural chemicals use, reduced and sprayed mistake target rate, also reduced environmental pollution and operator's potential safety hazard, to advancing agricultural science and technology innovation, the development of accelerating modern agriculture is significant.
Accompanying drawing explanation
Fig. 1 is a kind of intelligent variable sprayer controller structure principle chart that adopts laser acquisition of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
In Fig. 1, a kind of intelligent variable sprayer controller that adopts laser acquisition, by laser sensor, touch-screen, embedded onboard main control unit, Ethernet assembly, 3G communications component, Modbus assembly, CAN assembly, GPS assembly, the portable tester of wind speed and wind direction, data acquisition unit, frequency counting unit, A/D converting unit, I/V change-over circuit, frequency counting unit, spi bus module, speed pickup, pressure transducer, flow sensor, inclination sensor, hyperchannel variable-flow control module and organize PWM maker more, high speed optoelectronic isolation, MOSFET driving circuit, the module group that solenoid valve (A1～An) forms forms.Integrated Ethernet assembly, 3G communications component, Modbus assembly, CAN assembly, GPS assembly in embedded onboard main control unit; Integrated CAN assembly, frequency counting unit, high speed optoelectronic isolation, A/D converting unit, I/V change-over circuit, frequency counting unit, high speed optoelectronic isolation, spi bus module in data acquisition unit; Integrated many group PWM makers, high speed optoelectronic isolation, MOSFET driving circuit in hyperchannel variable-flow control module.
Laser sensor is connected with Ethernet assembly, and the plant surface distance information being detected by Fast Ethernet passes to embedded onboard main control unit fast; Touch-screen is connected with Modbus assembly, to embedded onboard main control unit input plant kind, spraying season, sick insects not, the spray pesticide information such as drug type, realize the function of man-machine interaction; The portable tester of wind speed and wind direction, by 3G communications component, is realized the wireless connections between them.Because tester is in motion process, be inconvenient to survey wind speed, wind direction information, therefore must place it near spraying operation place, measure wind speed, the wind direction information of environment of living in, and pass in real time embedded onboard main control unit.Wind speed and direction information after treatment, compensates droplet target precision in spray process in conjunction with controlling model.GPS assembly communicates by network and satellite, the spraying operation place digital map information of Real-time Obtaining satellite be passed back; Embedded onboard main control unit is connected with data acquisition unit, hyperchannel variable-flow control module respectively by CAN assembly, CAN assembly, CAN assembly, wherein CAN bus is vehicle-mounted working standard bus, there is high reliability and good anti-interference, be applicable to variation of ambient temperature large, vibrate in large environment.By vehicle-mounted STD bus, can conveniently add more data acquisition and control module, greatly strengthen the dilatancy of system.
Speed pickup is isolated and is connected to frequency counting unit by high speed optoelectronic, by calibrated calculation procedure, can accurately obtain the translational speed information of vehicle-mounted spraying machine; Pressure transducer is connected to A/D converting unit by I/V change-over circuit, the pressure information of spray liquid when data acquisition unit just can obtain vehicle-mounted spraying, wherein A/D converting unit adopts ADS1113, and it is that a kind of volume is little, low in energy consumption, the ADC converter of 16 bit resolutions; Flow sensor is isolated with frequency counting unit and is connected by high speed optoelectronic, and then the sprinkling flow information of vehicle-mounted sprayer medicine case is passed to data acquisition unit; Inclination sensor is connected with spi bus module, just can obtain slope, place traffic information by verification after demarcating.Data acquisition unit is the speed collecting, pressure, flow, road conditions inclination information, by CAN assembly, CAN component passes to embedded onboard main control unit.
The solenoid valve duty cycle information that multipath electrovalve (A1～An) is obtained from embedded onboard main control unit by CAN assembly, CAN assembly by hyperchannel variable-flow control module respectively, by PWM maker, produce corresponding pwm signal, again by high speed optoelectronic isolate, MOSFET driving circuit, realize the variable-flow spraying function of the nozzle of solenoid control.Wherein, high speed optoelectronic isolation makes input, output isolation mutually, avoids causing output voltage to fluctuate and the pwm signal of input being also interfered because of the frequent movement of solenoid valve.
In the present embodiment, the laser sensor adopting is the sensor that model that Japanese Hokuyo company produces is UTM-30LX-EW, it has wide-angle sensing range, IP67 degree of protection, the rapid scanning cycle of 25ms, the Ethernet communication interface at a high speed of 270o, effectively measuring distance is 0.1 ~ 30m, is convenient to outdoor use.
In the present embodiment, the embedded onboard main control unit adopting is the embedded microprocessor that the model of Taiwan Ling Hua scientific & technical corporation production is MXE-5301, the shock resistance based on i7-2710QE tetra-core processors, fan-free operation, 5 Grms and the input of 9-32V wide region direct supply.The USIM slot of the wireless protocols such as applicable 3G, GPS, WIFI and bluetooth can conveniently carry out the application of Wireless Data Transmission, GPS module can obtain the geography information in sprinkling process, the radio communication of the realization of 3G communications component and wind speed and the portable tester of wind direction, and teledata exchange, adopt embedded OS Windows XP Emedded, be beneficial to software transplanting and exploitation.
In the present embodiment, the hyperchannel variable-flow control module with vehicle-mounted widely used CAN communication bus adopting, the model of producing for German Infineon scientific & technical corporation is XC878, and 8 single-chip microcomputers and peripheral circuit thereof form, by software programming, control the pwm signal of realizing multichannel different duty, adopt buffer circuit to realize high-speed MOSFET driver solenoid valve, control the solenoid valve opening and closing time, thereby realize the variable-flow control of nozzle.
In the present embodiment, the solenoid valve adopting is that U.S. Capstan Ag Systems company produces, and has higher switching frequency, and its power consumption is only 6W, by the design of the special reverse absorbing circuit of solenoid valve, can reach the good flow control linearity.
In the present embodiment, the touch-screen adopting is 7 cun of touch-screens that the model of the Kunlun, Beijing on-state automated software scientific & technical corporation production is TPC7062Hi, rated voltage is the high brightness TFT LCDs that 24V DC, rated power are 5W, be connected with embedded onboard main control unit, realize the function of man-machine interaction.
In the present embodiment, the digital map information in the spraying operation place of the GPS assembly reception satellite backhaul adopting is also presented on touch-screen, for recording path, the situation that prevents drain spray or repeat to spray medicine of spraying.
A kind of intelligent variable sprayer controller course of work that adopts laser acquisition of the present invention: embedded onboard main control unit is connected with laser sensor by Ethernet assembly, the plant that acquisition laser sensor detects has or not, specific features information, according to the interface parameter setting of the C++ programmed algorithm of prior setting and touch-screen, laser scanning data is carried out to filtering processing, delete the outer redundant data of target, the invalid datas such as the short weeds of filtering, destination object is resolved to peripheral profile to the polar coordinates range information of sensor, then the spraying machine gait of march of obtaining according to speed pickup, utilize the three-dimensional surface profile of method of interpolation reconstruct destination object.Inclination sensor transmits the traffic information in spraying operation place in real time to embedded onboard main control unit, according to this information, target three-dimensional surface is carried out to profile rectification, and then draw integral shroud volume, integral shroud density and three-dimensional dimension (width, height and the degree of depth) information of target plant.By touch-screen, Modbus assembly to embedded onboard main control unit input plant kind, spraying season, sick insects not, the spray pesticide information such as drug type.Hyperchannel variable-flow control module integrated multipath PWM maker, the control program that utilizes C language and write in conjunction with Keil C51 developing instrument, realizes based on CAN bus communication and hyperchannel Variable Control function.The reasonable spraying measure processing of laser sensor scan-data, analysis result and spray pesticide information being provided according to embedded onboard main control unit, generation channelized frequencies is constant, the pwm signal of different duty, realizes solenoid valve unlatching, the control of shut-in time.In spraying operation process, atomisation pressure when pressure transducer, flow sensor spray medicine to the transmission of embedded onboard main control unit in real time, spray medicine flow information, and calculating obtains spraying total amount, by touch-screen, show, convenient operation person to its monitoring, regulate keeping system atomisation pressure, flow normal.The information that embedded onboard main control unit is passed back according to speed pickup, in conjunction with information exchanges such as plant characteristics of objects, wind speed and direction and pavement behaviors, crossing feature extraction, rectification, compensation scheduling algorithm utilizes CAN assembly to control hyperchannel variable-flow control module, adjust in real time the pwm signal dutycycle that PWM maker produces, drive solenoid valve, and then control the variable farm chemical applying of spraying machine nozzle.The digital map information in the spraying operation place of GPS assembly reception satellite backhaul is also presented on touch-screen, for recording path, the situation that prevents drain spray or repeat to spray medicine of spraying.
Owing to adopting the intelligent variable sprayer controller of laser acquisition need complete in real time a plurality of links such as laser eyepiece detection and data acquisition, vehicle-mounted spraying machine speed acquisition, place road conditions and wind speed collection, Signal Pretreatment and feature extraction, on-line decision formation and target spraying execution output.Processing or the execution of each link need the regular hour, accumulative total formation system output time delay.In order to reduce to export time delay impact on target on target, design system dynamic compensation mechanism, from the following aspects research: (1) adopts the output time delay response detection device that devises a system such as induction type photoelectric sensor, water sensitive sensor and signal capture timer, measure the average total delay time of output of spraying machine system, for the realization of dynamic compensation mechanism provides reliable parameter data.(2) the horizontal mounting distance difference of appropriate design nozzle and laser sensor, the strategy that adopts space to change the time carrys out effective compensation system output time delay.(3) the different spraying machine operation speeds of travel will exert an influence to dynamic compensation mechanism, when spraying machine travels at a relatively high speed, only need the short period just nozzle can be sent to target cursor position on spraying machine direction of travel; Otherwise, when spraying machine is during with low speed driving, need the long period nozzle could be sent to target cursor position.It is long that when therefore spraying machine is run at high speed, required system is exported the compensation of delay time, and during low speed driving, the required system output compensation of delay time is short.(4) the portable tester of wind speed and wind direction gathers place wind speed, wind direction information, and real-time analysis place wind speed is at the speed component of spraying machine direction of travel and spray pesticide direction.When place wind speed hour, wind speed can be ignored the impact of target target spraying.When place wind speed is larger, particularly, when spraying direction of travel produces larger subcomponent wind speed, itself and the spraying machine operation speed of travel are carried out to vector calculating, update the system output compensation of delay required time.
The portable tester of Negotiation speed sensor, inclination sensor, wind speed and wind direction detects spraying machine gait of march, place road conditions, place wind speed and direction information in real time, embedded onboard formula main control unit is analyzed, is processed them, draw system output time delay, the spraying operation speed of travel and several persons' of place wind speed mutual restricting relation, design system output dynamic compensation is machine-processed, realizes the target spraying of vehicle-mounted spraying machine.
A kind of intelligent variable sprayer controller that adopts laser acquisition of the above invention, the characteristic informations such as the plant detecting according to laser sensor has or not, size, shape and density, the spraying operation place information of combined sensor passback and medicine-chest spray pressure, flow information, multipath electrovalve is controlled in real time, design system output dynamic compensation is machine-processed, reaches the object of accurate target spraying dispenser.The solenoid valve of the PWM maker of hyperchannel variable-flow control module, high speed optoelectronic isolation drive, MOSFET driving circuit and outer company adopts modular design, can according to different application scenarioss and require to change module number, and utilize CAN assembly and main control unit communication, reduced the installation volume of system, increased reliability, the practicality of system, significant to mechanization, the modernization development of acceleration China agricultural.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. an intelligent variable sprayer controller that adopts laser acquisition, it is characterized in that: comprise laser sensor, touch-screen, embedded onboard main control unit, the portable tester of wind speed and wind direction, data acquisition unit, speed pickup, pressure transducer, flow sensor, inclination sensor, hyperchannel variable-flow control module, several solenoid valves, described laser sensor, touch-screen, the portable tester of wind speed and wind direction, data acquisition unit, hyperchannel variable-flow control module intercoms mutually with embedded onboard main control unit respectively, described speed pickup, pressure transducer, flow sensor, inclination sensor transfers to data acquisition unit by the signal of collection respectively, described hyperchannel variable-flow control module is controlled several solenoid valves.
2. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: described embedded onboard main control unit comprises Ethernet assembly, 3G communications component, Modbus assembly, CAN assembly, GPS assembly, described laser sensor, touch-screen, the portable tester of wind speed and wind direction passes through respectively too screen component, Modbus assembly, 3G communications component is connected with embedded onboard main control unit, described GPS assembly is for intercoming mutually with satellite, the digital map information in the spraying operation place of GPS assembly reception satellite backhaul is also presented on touch-screen, be used for recording sprinkling path, the situation that prevents drain spray or repeat to spray medicine, described data acquisition unit is connected with the CAN assembly of embedded onboard main control unit with CAN assembly by CAN assembly respectively with hyperchannel variable-flow control module.
3. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: described data acquisition unit comprises CAN assembly, frequency counting unit, high speed optoelectronic isolation, A/D converting unit, I/V change-over circuit, frequency counting unit, high speed optoelectronic isolation, spi bus module, described CAN assembly is connected with the CAN assembly of embedded onboard main control unit, described speed pickup, pressure transducer, flow sensor, inclination sensor is isolated by high speed optoelectronic respectively, I/V change-over circuit, high speed optoelectronic isolation, spi bus module is connected with data acquisition unit.
4. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: described hyperchannel variable-flow control module comprises CAN assembly and some groups of PWM makers, high speed optoelectronic isolation, MOSFET driving circuit, each PWM maker, high speed optoelectronic isolation, MOSFET driving circuit is one group, its group number is identical with the quantity of described solenoid valve, solenoid valve is connected with hyperchannel variable-flow control module by MOSFET driving circuit, described hyperchannel variable-flow control module is connected with the CAN assembly of embedded onboard main control unit by CAN assembly.
5. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: described laser sensor has wide-angle sensing range, IP67 degree of protection, the rapid scanning cycle of 25ms, the Ethernet communication interface at a high speed of 270o, and effectively measuring distance is 0.1 ~ 30m.
6. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: shock resistance and the 9-32V wide region direct supply input of described embedded onboard main control unit based on i7-2710QE tetra-core processors, fan-free operation, 5 Grms, GPS assembly obtains the geography information in sprinkling process, the radio communication of the realization of 3G communications component and wind speed and the portable tester of wind direction, and teledata exchange, adopt embedded OS Windows XP Emedded, be beneficial to software transplanting and exploitation.
7. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: the described hyperchannel variable-flow control module with CAN assembly is controlled the pwm signal of realizing multichannel different duty by software programming, adopt buffer circuit to realize high-speed MOSFET driver solenoid valve, control the solenoid valve opening and closing time, thereby realize the variable-flow control of nozzle.
8. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: described solenoid valve has higher switching frequency, its power consumption is only 6W, by the design of the reverse absorbing circuit of solenoid valve, can reach the good flow control linearity.
9. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: described touch-screen is that rated voltage is the high brightness TFT LCDs that 24V DC, rated power are 5W, be connected with embedded onboard main control unit, realize the function of man-machine interaction.
10. a kind of intelligent variable sprayer controller that adopts laser acquisition as claimed in claim 1, it is characterized in that: the portable tester of Negotiation speed sensor, inclination sensor, wind speed and wind direction detects vehicle-mounted spraying machine gait of march, place road conditions, place wind speed and direction information in real time, embedded onboard main control unit is analyzed, is processed them, draw system output time delay, the spraying operation speed of travel and several persons' of place wind speed mutual restricting relation, system output dynamic compensation mechanism is set, realizes the accurate spraying of target.
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| CN104488843A (en) * | 2014-12-17 | 2015-04-08 | 江苏大学 | Air-supply-type variable spraying rod automatic tracking system adopting laser sensor and control method |
| CN104521929A (en) * | 2014-12-17 | 2015-04-22 | 江苏大学 | Variable flow spraying method based on plant target characteristic independent nozzle control |
| CN104536281A (en) * | 2014-12-17 | 2015-04-22 | 江苏大学 | Device for measuring system delay time in variable spraying process based on real-time sensor |
| CN104932550A (en) * | 2015-06-03 | 2015-09-23 | 江苏大学 | Variable spray nozzle automatic tracking system based on wind speed anemoscope, and control method thereof |
| CN107343025A (en) * | 2017-06-07 | 2017-11-10 | 西安电子科技大学 | Time delay optimization method under the distributed satellites cloud and mist network architecture and power consumption constraint |
| CN107479369A (en) * | 2017-07-01 | 2017-12-15 | 雷沃重工股份有限公司 | A kind of the intelligent variable spray control system and its implementation of adaptive travel speed |
| CN112147989A (en) * | 2020-10-22 | 2020-12-29 | 农业农村部南京农业机械化研究所 | Variable boom sprayer flow control characteristic test equipment and test method thereof |
| CN114467688A (en) * | 2020-10-26 | 2022-05-13 | 永嘉一本机械有限公司 | Farmland sprinkler |
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| CN104488843A (en) * | 2014-12-17 | 2015-04-08 | 江苏大学 | Air-supply-type variable spraying rod automatic tracking system adopting laser sensor and control method |
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| CN107479369A (en) * | 2017-07-01 | 2017-12-15 | 雷沃重工股份有限公司 | A kind of the intelligent variable spray control system and its implementation of adaptive travel speed |
| CN112147989A (en) * | 2020-10-22 | 2020-12-29 | 农业农村部南京农业机械化研究所 | Variable boom sprayer flow control characteristic test equipment and test method thereof |
| CN114467688A (en) * | 2020-10-26 | 2022-05-13 | 永嘉一本机械有限公司 | Farmland sprinkler |
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